Method for closing containers by means of a closure in a gripping device

ABSTRACT

The invention relates to a method for closing containers with a closure in a gripping device. The method consists of a series of steps. First, the closure is picked up in the gripping device, then the container is picked up in the gripping device, the container is closed with the closure in the gripping device, and the closed container is deposited by the gripping device. The gripping device is displaced by a handling unit from a first position in to a second position for transporting the container, and the container is closed whilst the handling unit is displaced by the gripping device.

PRIOR ART

The present invention relates to a method for closing containers by means of a closure in a gripper device, which method makes it possible to design a production flow flexibly.

From the prior art, packaging machines with rotating star wheels are known. By means of these star wheels, bottle-like containers are separated and conveyed. The closure is done by so-called pick-and-place units, which are disposed above the containers or star wheels. These pick-and-place units close the containers, for instance with stoppers, by means of revolving, horizontally or vertically positioned stopper wheels or with revolving, cam-controlled stopper setting assemblies. This type of closure dictates considerable expense for format parts, since the construction of these star wheels and setting assemblies is predetermined by the containers and closures. Moreover, the methods of the prior art do not allow flexible design of the workflow in filling and closure operations.

ADVANTAGES OF THE INVENTION

The method according to the invention having the characteristics of claim 1 has the advantage over the prior art that it can be performed economically, because of a simple and efficient flow. This makes a flexible, economic performance of the method possible for various containers and closures. Moreover, the method is a modular component in a chain of production flows. This modularity enables flexible variation of the method, without having to change the production steps that precede or follow the method of the invention. The use according to the invention of a gripper device on a manipulation unit makes it possible to perform two method steps simultaneously: First, the containers are transported by the manipulation unit from a first position to a second position. Second, the containers are closed during the transporting operation. As a result, production time is saved, and in addition one production step, which is intended only for conveying the containers, is integrated into the closing operation. This is attained according to the invention in that the method for closing containers by means of a closure in a gripper device includes the following four steps: In a first step, the gripper device picks up a closure. In a second step, the gripper device picks up the filled container from a first position (hereinafter also called the furnishing position). During a third step, the container is now closed with the closure. Simultaneously with this closing operation, the container and closure are transported by means of a manipulation unit within the production chain. A fourth step provides that the closed container is ejected from the gripper device. This ejection is done at a second position (hereinafter also called the parking position). Thus the container is simultaneously both conveyed and closed. The first two method steps are variable in their order. According to the invention, it is also provided that the gripper device picks up the container first and then the closure. Moreover, these two steps can also be combined, and the picking up of the container and closure is then done simultaneously according to the invention.

The dependent claims shown preferred refinements of the invention.

Preferably, the method provides that the closure is picked up by means of a tow-away motion, and the closure is towed away from a tow-away position. During the tow-away motion, the gripper device moves continuously, that is, without stopping, relative to the tow-away position. Thus the closure can be picked up in the gripper device during the travel, that is, during the transporting operation, without losing time. Thanks to this preferable refinement of the method of the invention, both picking up the closure and closing the container can be integrated into the transporting operation of the manipulation unit.

In an especially preferred embodiment the tow-away motion is embodied in curved fashion. Thus the closure can be picked up in pocket by means of a preferably linear or curved opening in the gripper device.

It is also preferred that the gripper device moves at constant speed from the furnishing position to the parking position. This means that both the transporting operation and the tow-away motion are performed at the same speed.

In a further advantageous refinement, it is provided that the gripper device can pick up at least two containers and accordingly also at least two closures. As a result, the method can be adapted to the cadence of the production chain, and the effectiveness of the production can be optimized.

It is also advantageous to tow a plurality of closures away with only one tow-away motion. Thus the manipulation unit need not perform a curved tow-away motion for every closure operation, and the resultant fluid flow of the transporting operation speeds up production.

It is also preferable to use a freely programmable, multiaxial, servo-operated robot or robot arm as the manipulation unit. The robot makes a flexible design of the flow of motion of the gripper device within the production chain possible. Also by means of the robot, the speed, acceleration and form of the tow-away motion can be adapted to various closure formats and machine capacities.

Lowering the closure for setting the closure onto the container is also advantageous. As a result, the container is not moved relative to the gripper device, and an unnecessary acceleration of the contents of the container is avoided. This prevents a liquid content, for instance, from spilling over.

Aspirating the container and/or the closure onto the gripper device by means of underpressure is also preferred. Subjection to underpressure ensures a secure hold of the container or closure in the gripper device.

Moreover, by rescinding the underpressure or by subjection to underpressure, two things can be attained: First, the closure can be set down on the container, and second, the container can be released from the container receptacle at a certain time and thus at a certain position.

It is also provided according to the invention that the intake means of the container and closure each be provided independently with underpressure. As a result, aspirating the container is independent from a possible pressure increase in the intake means of the closure, and vice versa. For instance, if the gripper device fails to pick up a closure because of a malfunction, or if the closure becomes detached from the gripper device, the pressure at the closure intake means rises. Because of the separate underpressure supply, according to the invention, to the container intake means, the underpressure at the container remains constant, and the container does not become detached from the gripper device. Securing the container in this way by the separate underpressure supply is especially advantageous if the content of the container, in the event that it is poured out, could damage the surrounding machines or harm a human being.

The application of the method of the invention in the pharmaceutical industry is also preferred. Especially in the area of small to medium-size batches, the gripper device of the invention and the manipulation unit of the invention offer a novel possibility for flexible design of the production chain. For instance, the method is used for inserting pharmaceutical stoppers in containers. The containers in that case are filled with pharmaceutical substances, and the pharmaceutical stopper is of rubberlike material.

It is also provided according to the invention to operate the manipulation unit inside an insulator, the insulator being disposed like a hood element above the gripper device. Thus it is even possible to close the containers in an inert gas or in a vacuum.

In a further advantageous refinement, it is provided that gripper device closes the container with the closure by means of a pneumatic drive. A pressure source required for this can be located outside the gripper device, and it thus enables a weight reduction of the machine parts in motion during the method. However, the drive of the closing motion is not limited to pneumatics, and a mechanical or hydraulic drive is also conceivable.

It is also advantageous, as an alternative to picking up the closure by means of a tow-away motion, to increment the pickup of the closure. That is, the gripper device stops, picks up a closure, and then moves onward.

BRIEF DESCRIPTION OF THE DRAWINGS

A preferred exemplary embodiment of the invention will be described below in conjunction with the accompanying drawings. In the drawings:

FIG. 1 is a perspective view of a gripper device for performing a method in accordance with an exemplary embodiment of the invention;

FIG. 2 is a side view of the gripper device of FIG. 1; and

FIG. 3 is a schematic illustration of the top view on a pharmaceutical system for performing a method in accordance with the exemplary embodiment of the invention.

PREFERRED EMBODIMENT OF THE INVENTION

Below, in conjunction with FIGS. 1 through 3, a gripper device 1 for performing a method in accordance with a preferred exemplary embodiment of the invention will be described in detail. The gripper device 1 of the exemplary embodiment is used with a manipulation unit 81 within a pharmaceutical system 8.

As can be seen from FIG. 1, the gripper device 1 includes a container receptacle 2, a closure receptacle 3, and connecting elements 6. As will be described in conjunction with the pharmaceutical system 8 in FIG. 3, this gripper device 1 can pick up two containers 4 and two closures 5 and transport them. The two containers 4 are closed with the closures 5 while being transported. It should be noted here that depending on the required yield of the pharmaceutical system 8, the gripper device 1 can also be embodied according to the invention for only one or for more than two containers 4. Moreover, the invention is not limited to the use of round, bottle-like containers 4. The use of angular bottles, cups or containers is also contemplated according to the invention.

In FIG. 1, for the sake of simpler illustration, the container 4 on the right is blanked out. The associated closure 5, however, is shown.

In FIG. 1, the bottle-like container 4 on the left is shown, which includes a container body 41, a container neck 42, and a container collar 43. The tow-away position 41 tapers toward the container neck 42, and the container neck 42 widens toward the container. collar 43, which surrounds an opening of the container 4. Two closures 5 are also shown, which are embodied as rubber stoppers 5. Each of these rubber stoppers 5 includes a cylindrical stopper collar 51 and a taper 52, which is dimensioned to suit the opening of the container 4.

The rubber stoppers 5 are especially well suited for secure, airtight closure of containers 4 that are filled with pharmaceutical substances. However, embodying the closures 5 as rubber stoppers 5 is an example. According to the invention, the embodiment of the closures 5 as caps, twist closures or stoppers of any material is also contemplated.

The container receptacle 2, by means of a first form-locking contour 22 and a second form-locking contour 23, holds the bottle-like container 4 in two different regions of the container 4. The curved second form-locking contour 23 grips the cylindrical container body 41. To ensure a secure hold, somewhat more than half the circumference of the container body 41 is gripped by the second form-locking contour 23. The first, curved form-locking contour 22 also grips the container neck 42 directly below the container collar 43. Thus the first form-locking contour 22 forms two form-locking holders for the container 4. First, the container collar 43 rests on the container receptacle 2, preventing the container 4 from slipping downward. Second, the first form-locking contour 22 grips the container neck 42 over somewhat more than half its circumference. Preferably, the first form-locking contour 22 thus clamps the container 4 in place. According to the invention, it is also possible for only one of the two form-locking contours 22, 23 to be provided. Moreover, adapting the form-locking contours 22, 23 to container shapes that differ from the shape of the container 4 shown is also contemplated according to the invention.

The closure receptacle 3 is embodied in the form of a plate 32. This plate includes two closure tow-away units 31, each in the form of a milled curved opening 33 and a pocket 35. These curved openings 33 both open out into a respective pocket 35. The tow-away function of the closure tow-away unit 31 will be described in conjunction with FIG. 3. It can be seen in FIG. 1 how the rubber stoppers 5 are held in form-locking fashion at the level of the stopper collars 51 by the pockets 35.

The connecting element 6, which connects the container receptacle 2 with the closure receptacle 3, includes, in this exemplary embodiment, two linear guide elements 64 and one pneumatic cylinder 61. The pneumatic cylinder 61 will be explained in conjunction with the discussion of FIG. 2. The two linear guide elements 64 are embodied as cylindrical rods, which are fixedly connected to the plate 32. For pressing the rubber stoppers 5 into the openings in the containers 4, a relative motion 11 is required between the container receptacle 2 and the closure receptacle 3. In the exemplary embodiment, this relative motion 11 is performed by lowering the plate 32 in the direction of the closure receptacle 2. To press the rubber stoppers 5 into the containers 4 in a rectilinear motion, the two linear guide elements 64 are guided with a precise fit in two through bores 24. These through bores each form one opening on the lower end of the container receptacle 2. It is advantageous to lower the rubber stoppers 5 onto the containers 4 and not to move the contents of the containers 4 unnecessarily. However, for executing the relative motion 11, it is also possible to raise the container receptacle 2.

In addition to the form-locking fixation of the containers 4 and rubber stoppers 5, the gripper device 1 of the invention has four intake openings 21, 34. Hence there is one first intake opening 21 per container 4 in each container receptacle 2, and one second intake opening 34 per closure 5 in the closure receptacle. The two first intake openings 21 are embodied as a bore in the second form-locking contour 23 and are thus located at the level of the container bodies 41. The two second intake openings 34 are located in the respective pockets 35 above the stopper collars 51. By means of the intake openings 21, 34, the containers 4 and the rubber-stoppers 5 are fixed on the gripper device 1 with underpressure. As an alternative to the integrated intake openings, the gripper device may also have a suction cup system mounted on it for aspirating the containers 4 and rubber stoppers 5. The supply of underpressure to the gripper device 1 will be described below in conjunction with FIG. 2.

It should be noted that the underpressure intake means 21 and the form-locking clamping means 22, 23 of the containers 4 can also be employed alternatively. For instance, it is possible for the containers 4 to be fixed on the container receptacle 2 either only via one of the form-locking contours 22, 23 or only via the underpressure intake means 21. The same is true for the rubber stoppers 5. They too can be fixed on the closure receptacle 3 by form locking 35, underpressure 34, or a combination of the two possibilities.

FIG. 2, in a side view, shows the gripper device 1 of the invention, with the container receptacle 2, the closure receptacle 3, the container 4, the rubber stopper 5, and the connecting elements 6, in accordance with the exemplary embodiment. Inside the container receptacle 2, on the left side of the container 4, is the first intake opening 21 of the container 4 on the left. The second intake opening 34 of the rubber stopper 5 on the left is located above the stopper collar 51, inside the closure receptacle 3 or plate 32. Although FIG. 2 shows only the two intake openings 21, 34 of the container 4 on the left, the gripper device 1 does, as already described, have four intake openings 21, 34. Each of these four intake openings 21, 34 is connected to an external underpressure source 72 via separate underpressure lines 7. Inside the gripper device 1, each of the four underpressure lines 7 communicates with one of the four intake openings by means of the internal underpressure distributor 71. Since the underpressure lines 7 for the two second intake openings 34 of the closure receptacle 3 also open into the container receptacle 2, the internal underpressure distributor 71, for carrying the underpressure from the container receptacle 2 to the closure receptacle 3, has conduits in the linear guide element 64.

FIG. 2 also shows the pneumatic cylinder 61 for performing the relative motion 11. By means of this linear relative motion 11, the rubber stoppers 5 are pressed into the containers 4. The pneumatic cylinder 61 includes a hollow cylinder, which is fitted into a bore in the container receptacle 2. A piston of the pneumatic cylinder 61 is located in this hollow cylinder. The pneumatic cylinder 61 is embodied in bidirectional form and can thus both raise and lower the closure receptacle 3 by operation with compressed air. Because of the bidirectional embodiment, the pneumatic cylinder 61 has two pneumatic lines 62, which connect it to an external pressure source 63. It should be noted here that for the pneumatic cylinder 61, a single pneumatic line 62 is also sufficient. Hence the motion for raising the closure receptacle 3 could for instance also be taken on by a spring integrated with the pneumatic cylinder 61.

It should be noted that the pneumatic cylinder 61 can also be supplied via the underpressure lines 7, instead via the pressure source 63. Moreover, the pneumatic cylinder 61 can replace one of the two linear guide elements 64. In this case, the pneumatic cylinder 61 takes on not only the raising and lowering work but also, along with the remaining linear guide element 64, ensures the linear guidance of the closure receptacle 3. As an alternative to the pneumatic drive of the relative motion 11, a hydraulic or mechanical drive is possible.

FIG. 3 shows a schematic illustration of the top view on the pharmaceutical system 8 in accordance with the exemplary embodiment of the invention. The pharmaceutical system 8 functions in a pharmaceutical production chain as a transporting and closure unit for the containers 4. In this pharmaceutical system 8, the gripper device 1 of the invention is operated on a robot arm 82 of the manipulation unit 81. The robot arm 82 moves the gripper device 1 from a furnishing position 86 to a parking position 87, by way of a tow-away position 85. In so doing, the gripper device 1 by means of the robot arm 82 executes a curved tow-away motion, as indicated in FIG. 3 by the arrow 83. A sorting device 84 aligns the rubber stoppers 5 and furnishes two rubber stoppers 5 each in the tow-away position 85. The rubber stoppers 5 are aligned so that they will stand upright and so that the stopper collar 51 is above the taper 52.

From the parking position 87, the gripper device 1 moves (counter to the arrow 83) in the direction of the tow-away position 85, without containers 4 and without rubber stoppers 5. In the process, with the curved tow-away motion, the gripper device 1 moves past the tow-away position 85 in order to tow away the rubber stoppers 5. During the tow-away process, the gripper device 1 remains constantly in motion. The pockets 35 of the closure tow-away units 31, in this operation, are located precisely at the level of the stopper collars 51, and thus the rubber stoppers 5 slip along the curved openings 33 into the pockets 35. In the pockets 35, the rubber stoppers 5 are retained by means of the underpressure at the second intake openings 34. The gripper device 1 thereupon moves to the furnishing position 86, where it picks up two containers 4 that are filled with a pharmaceutical substance. These containers 4 are held at the two first intake openings 21 both via the two form-locking contours 22, 23 and via the underpressure. Immediately after the containers 4 have been picked up, the gripper device 1 executes the relative motion 11 and thus closes the containers 4. In the process, by means of the pressure source 63 and the pneumatic lines 62, the pneumatic cylinder 61 is activated. By contraction of the pneumatic cylinder 61, the closure receptacle 3 is lowered onto the container receptacle 2, and the rubber stoppers 5 are pressed into the containers 4. As soon as the rubber stoppers 5 are seated in the containers 4, the underpressure can be taken from the second intake openings 34. Simultaneously with the closure of the containers 4, or in other words simultaneously with the contraction of the pneumatic cylinder 61, the robot arm 82 moves the gripper device 1 onward in the direction of the parking position 87. In this parking position 87, the underpressure is taken from the first intake openings 21, and the closed containers 4 are parked. The manipulation unit 81 thus closes the containers 4 without losing time during the transportation of the containers 4 from the furnishing position 86 to the parking position 87. Since the tow-away motion and the transporting motion are performed at the same, constant speed, the acceleration and deceleration of the containers 4 is minimized, preventing the contents of the containers 4 from spilling over.

The containers 4 are filled with pharmaceutical substance directly in the furnishing position 86. Immediately after the filling has ended, the gripper device 1 picks up the containers 4 and immediately begins the closure operation. Because of this very fast closure, contamination of the pharmaceutical substance or its reaction with the surrounding atmosphere is avoided.

Alternatively to picking up the rubber stoppers 5 by means of a tow-away motion, the pickup of the rubber stoppers 5 can also be incremental. That is, the gripper device 1 remains stopped in the tow-away position 83 and picks up the rubber stoppers 5 and then moves onward in the direction of the furnishing position 86.

It is also provided according to the invention to operate the pharmaceutical system 8 or the manipulation unit 81 inside an insulator 88. To that end, the materials of the pharmaceutical system 8, manipulation unit 81 and gripper device 1 are selected to meet the requirements for use in the insulator 88. 

1-10. (canceled)
 11. A method for closing containers by means of a manipulation unit which has a closure in a gripper device, including the following steps: picking up the closure with the gripper device so the closure is gripped by the gripping device; picking up the container with the gripper device so the container is gripped by the gripping device; closing the container with the closure in the gripper device; and ejecting the closed container from the gripper device, wherein the gripper device, in order to transport the container from a first position to a second position, is moved by a manipulation unit, and wherein the closure of the container is performed while the manipulation unit is moving the gripper device.
 12. The method as defined by claim 11, wherein the closure is received by the gripping device by means of a tow-away motion, and the closure is towed away from a tow-away position by the gripping device during which the gripper device is moved steadily relative to the tow-away position.
 13. The method as defined by claim 12, wherein the tow-away motion is embodied in curved fashion.
 14. The method as defined by claim 11, wherein the gripper device picks up at least two containers and at least two closures.
 15. The method as defined by claim 12, wherein the gripper device picks up at least two containers and at least two closures.
 16. The method as defined by claim 13, wherein the gripper device picks up at least two containers and at least two closures.
 17. The method as defined by claim 1, wherein with one tow-away motion, the gripper device tows away a plurality of closures.
 18. The method as defined by claim 1, wherein with one tow-away motion, the gripper device tows away a plurality of closures.
 19. The method as defined by claim 1, wherein with one tow-away motion, the gripper device tows away a plurality of closures.
 20. The method as defined by claim 11, wherein the manipulation unit includes a robot arm, and the gripper device is moved by the robot arm.
 21. The method as defined by claim 19, wherein the manipulation unit includes a robot arm, and the gripper device is moved by the robot arm.
 22. The method as defined by claim 11, wherein upon closing of the container, the closure is lowered to the container.
 23. The method as defined by claim 21, wherein upon closing of the container, the closure is lowered to the container.
 24. The method as defined by claim 11, wherein the container and/or the closure is fixed in the gripper device by means of underpressure.
 25. The method as defined by claim 23, wherein the container and/or the closure is fixed in the gripper device by means of underpressure.
 26. The method as defined by claim 24, wherein the underpressure at the container is independent of the underpressure at the closure.
 27. The method as defined by claim 25, wherein the underpressure at the container is independent of the underpressure at the closure.
 28. The method as defined by claim 11, wherein the closure is a pharmaceutical stopper, and the method is performed in a machine for pharmaceutical applications.
 29. The method as defined by claim 14, wherein the closure is a pharmaceutical stopper, and the method is performed in a machine for pharmaceutical applications.
 30. The method as defined by claim 27, wherein the closure is a pharmaceutical stopper, and the method is performed in a machine for pharmaceutical applications. 